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                    第1章 Cyber RT 概述与环境搭建
            
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                    1.1 Cyber RT 简介
            
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                    1.2 Cyber RT 安装
            
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                    1.2.1 准备工作
            
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                    1.2.2 Cyber RT 安装
            
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                    1.2.3 测试
            
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                    1.3 Cyber RT 集成开发环境搭建
            
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                    1.3.1 Vscode 下载与安装
            
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                    1.3.2 Vscode 插件的安装以及使用
            
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                    1.4 Cyber RT 快速体验
            
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                    1.4.1 c++实现HelloWorld
            
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                    1.4.2 Python实现HelloWorld
            
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                    1.5 预备知识——bazel
            
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                    1.5.1 Bazel使用之基本流程
            
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                    1.5.2 Bazel使用之库依赖
            
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                    1.6 预备知识——protobuf
            
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                    1.6.1 proto使用之文件创建
            
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                    1.6.2 proto读写之C++实现
            
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                    1.6.3 proto读写之Python实现
            
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                    1.7 本章小结
            
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                    第2章 Cyber RT 通信机制
            
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                    2.1 话题通信
            
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                    2.1.1C++实现
            
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                    2.1.2 Python实现
            
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                    2.2 服务通信
            
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        <li class="chapter " data-level="1.3.2.1" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/22-fu-wu-tong-xin/221-cshi-xian.html">
            
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                    2.2.1 C++实现
            
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        <li class="chapter " data-level="1.3.2.2" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/22-fu-wu-tong-xin/222-pythonshi-xian.html">
            
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                    2.2.2 Python实现
            
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        <li class="chapter " data-level="1.3.3" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/23-can-shu.html">
            
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                    2.3 参数
            
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        <li class="chapter " data-level="1.3.3.1" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/23-can-shu/231-cshi-xian.html">
            
                <a href="di-2-zhang-cyber-rt-tong-xin-ji-zhi/23-can-shu/231-cshi-xian.html">
            
                    
                    2.3.1 C++实现
            
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        <li class="chapter " data-level="1.3.3.2" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/23-can-shu/232-pythonshi-xian.html">
            
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                    2.3.2 Python实现
            
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        <li class="chapter " data-level="1.3.4" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/24-zu-jian.html">
            
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                    2.4 组件
            
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                    2.4.1 通用组件演示(上)
            
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                <a href="di-2-zhang-cyber-rt-tong-xin-ji-zhi/24-zu-jian/242-ji-ben-zu-jian-yan-793a28-4e0b29.html">
            
                    
                    2.4.2 通用组件演示(下)
            
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                <a href="di-2-zhang-cyber-rt-tong-xin-ji-zhi/24-zu-jian/242-shi-jian-zu-jian-yan-shi.html">
            
                    
                    2.4.3 定时器组件演示
            
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                    2.5 本章小结
            
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                    第3章 Cyber RT 开发工具
            
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                    3.1 cyber record
            
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                    3.2.1 C++ 实现
            
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                    3.3.2 Python 实现
            
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                    3.2 常用命令
            
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                    3.3 本章小结
            
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                    第4章 Cyber RT 常用API
            
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                    4.1 节点相关API
            
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                    4.2 话题相关API
            
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                    4.3 服务相关API
            
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                <a href="zi-65993a-chang-yong-api/44-can-shu-xiang-guan-api.html">
            
                    
                    4.4 参数相关API
            
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                    4.5 组件相关API
            
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                    4.6 时间相关API
            
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                    4.7 日志相关API
            
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                    4.8 record 相关API
            
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                    4.9 本章小结
            
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        <a href="." >第1章 Cyber RT 概述与环境搭建</a>
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                                <h1 id="&#x7B2C;1&#x7AE0;-cyber-rt-&#x6982;&#x8FF0;&#x4E0E;&#x73AF;&#x5883;&#x642D;&#x5EFA;">&#x7B2C;1&#x7AE0; Cyber RT &#x6982;&#x8FF0;&#x4E0E;&#x73AF;&#x5883;&#x642D;&#x5EFA;</h1>
<p>&#x672C;&#x7AE0;&#x6211;&#x4EEC;&#x5C06;&#x5F00;&#x59CB;&#x5B66;&#x4E60;Apollo Cyber RT &#x8FD9;&#x4E00;&#x77E5;&#x8BC6;&#x6A21;&#x5757;&#xFF0C;&#x6309;&#x60EF;&#x4F8B;&#x4F5C;&#x4E3A;&#x5F00;&#x7BC7;&#x6211;&#x4EEC;&#x4F1A;&#x4F9D;&#x6B21;&#x4ECB;&#x7ECD;Cyber RT &#x7684;&#x76F8;&#x5173;&#x6982;&#x5FF5;&#x3001;&#x6309;&#x7167;&#x5B98;&#x65B9;&#x6587;&#x6863;&#x5B89;&#x88C5;Cyber RT &#x5E76;&#x642D;&#x5EFA;&#x5176;&#x96C6;&#x6210;&#x5F00;&#x53D1;&#x73AF;&#x5883;&#x3002;</p>
<p><strong>&#x672C;&#x7AE0;&#x5185;&#x5BB9;&#xFF1A;</strong></p>
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<li><p>Cyber RT &#x7B80;&#x4ECB;&#xFF1B;</p>
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<li><p>Cyber RT &#x5B89;&#x88C5;&#x6B65;&#x9AA4;&#xFF1B;</p>
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<li><p>&#x4F7F;&#x7528; Vscode &#x642D;&#x5EFA; Cyber RT &#x7684;&#x96C6;&#x6210;&#x5F00;&#x53D1;&#x73AF;&#x5883;&#xFF1B;</p>
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<li><p>&#x5B8C;&#x6210; Cyber RT &#x7248;&#x672C;&#x7684; HelloWorld&#xFF1B;</p>
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<li><p>&#x9884;&#x5907;&#x77E5;&#x8BC6;&#x4ECB;&#x7ECD;: bazel &#x4E0E; protobuf&#x3002;</p>
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<p><strong>&#x5B66;&#x4E60;&#x6536;&#x83B7;&#xFF1A;</strong></p>
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<li><p>&#x53EF;&#x4EE5;&#x4E86;&#x89E3;&#x5728;&#x767E;&#x5EA6; Apollo &#x4E2D; Cyber RT &#x7684;&#x5B9A;&#x4F4D;&#x3001;&#x8BDE;&#x751F;&#x80CC;&#x666F;&#x3001;&#x4EE5;&#x53CA;&#x5728;&#x667A;&#x80FD;&#x9A7E;&#x9A76;&#x9886;&#x57DF;&#x7684;&#x4F18;&#x52BF;&#xFF1B;</p>
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<li><p>&#x53EF;&#x4EE5;&#x4E86;&#x89E3;Cyber RT &#x7684;&#x5B89;&#x88C5;&#x6B65;&#x9AA4;&#x5E76;&#x80FD;&#x591F;&#x5B9E;&#x73B0;&#x72EC;&#x7ACB;&#x5B89;&#x88C5;&#xFF1B;</p>
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<li><p>&#x80FD;&#x591F;&#x5B66;&#x4E60;&#x5982;&#x4F55;&#x4F7F;&#x7528; Vscode &#x63D0;&#x9AD8; Cyber RT &#x7684;&#x5F00;&#x53D1;&#x6548;&#x7387;&#xFF1B;</p>
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<li><p>&#x80FD;&#x591F;&#x638C;&#x63E1;&#x57FA;&#x4E8E; Cyber RT &#x7684;&#x7A0B;&#x5E8F;&#x7F16;&#x5199;&#x3001;&#x914D;&#x7F6E;&#x3001;&#x7F16;&#x8BD1;&#x3001;&#x6267;&#x884C;&#x7B49;&#x57FA;&#x672C;&#x6D41;&#x7A0B;&#xFF1B;</p>
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<li><p>&#x53EF;&#x4EE5;&#x4E86;&#x89E3;&#x5728; Cyber RT &#x4E2D;&#x5173;&#x4E8E;docker&#x3001;bazel &#x4EE5;&#x53CA; protobuf &#x7684;&#x57FA;&#x672C;&#x4F7F;&#x7528;&#x3002;</p>
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<p><strong>&#x6848;&#x4F8B;&#x6F14;&#x793A;&#xFF1A;</strong></p>
<p>&#x6848;&#x4F8B;1&#xFF1A;&#x5B89;&#x88C5;Cyber RT &#x5E76;&#x8FD0;&#x884C;&#x5176;&#x5185;&#x7F6E;&#x4F8B;&#x7A0B;</p>
<p><img src="assets/001_&#x6F14;&#x793A;1_talker_listener.gif" alt=""></p>
<p>&#x6848;&#x4F8B;2&#xFF1A;&#x4F7F;&#x7528;Vscode&#x5F00;&#x53D1;&#x7A0B;&#x5E8F;</p>
<p><img src="assets/002_&#x6F14;&#x793A;2_Vscode&#x8865;&#x9F50;.gif" alt=""></p>
<p>&#x6848;&#x4F8B;3&#xFF1A;&#x5206;&#x522B;&#x4F7F;&#x7528; C++ &#x548C; Python &#x6765;&#x7F16;&#x5199;Cyber RT &#x7248;&#x672C;&#x7684; hello world</p>
<p><img src="assets/003_&#x6F14;&#x793A;03_helloworld.PNG" alt=""></p>

                                
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